// BSD 3-Clause License
//
// Copyright (c) 2021, BlueSpace.ai, Inc.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice, this
//    list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
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// 3. Neither the name of the copyright holder nor the names of its
//    contributors may be used to endorse or promote products derived from
//    this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
//  All rights reserved.
//
//  Redistribution and use in source and binary forms, with or without modification,
//  are permitted provided that the following conditions are met:
//
//  1.	Redistributions of source code must retain the above copyright notice,
//      this list of conditions, and the following disclaimer.
//
//  2.	Redistributions in binary form must reproduce the above copyright notice,
//      this list of conditions, and the following disclaimer in the documentation
//      and/or other materials provided with the distribution.
//
//  3.	Neither the names of the copyright holders nor the names of their contributors
//      may be used to endorse or promote products derived from this software without
//      specific prior written permission.
//
//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
//  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
//  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
//  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
//  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
//  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
//  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
//  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS
//  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES
//  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE
//  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//

#ifndef XDAINTERFACE_H
#define XDAINTERFACE_H

#include <rclcpp/rclcpp.hpp>
#include <diagnostic_updater/diagnostic_updater.hpp>
#include "xdacallback.hpp"
#include <xstypes/xsportinfo.h>

#include <chrono>

struct XsControl;
struct XsDevice;


class PacketCallback;
class AdditionalLoggerRos;

class XdaInterface : public rclcpp::Node
{
public:
  explicit XdaInterface(
    const std::string & node_name,
    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
  ~XdaInterface();

  void spinFor(std::chrono::milliseconds timeout);
  void registerPublishers();

  bool connectDevice();
  bool prepare();
  void close();

  const int XS_DEFAULT_BAUDRATE = 115200;

private:
  void registerCallback(PacketCallback * cb);
  bool handleError(std::string error);
  void declareCommonParameters();
  bool configureDevice();
  bool configureAlignmentQuat(const std::string & name);
  void registerDiagnostics();
  void produceDiagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat);

  diagnostic_updater::Updater m_updater;
  XsControl * m_control;
  XsDevice * m_device;
  XsPortInfo m_port;
  XdaCallback m_xdaCallback;
  std::list<PacketCallback *> m_callbacks;
  AdditionalLoggerRos * m_additional_logger;
  uint32_t m_last_status;
};

#endif
